PURPOSE: To follow up easily a weld line by correcting the transverse position of the groove for the 2nd and succeeding layers by the controlled variable for correcting the position of a welding torch in the transverse direction of the groove.
CONSTITUTION: The oscillating width for the 2nd layer is determined more largely than the width for the first layer and therefore the start point for welding the 2nd layer is 1S'1 and the route of oscillation is 2'a as well. The start point for oscillation in the route of oscillation is 1S'm, 2S'm... and the arrival point is 1R'm, 2R'm... as well. The data indicating that the robot comes to the arrival position at every arrival of the welding torch at 1R'm are generated. A CPU takes the data therein and counts the number of taking-in times, thereby assigning the pointer of the memory cell in an RAM storing the controlled variable in the first layer and accessing the same. If there is the data in the assigned place of the pointer, the CPU takes in the controlled variable and transfers the same to the robot. The arm position of the robot moves and the start point for oscillation of the welding torch in the 2nd layer is corrected to 1S"m. The controlled variable of the first layer is read out similary in welding of the 3rd and succeeding layers as well and the position of the welding torch in the transverse direction of the groove is corrected.
KONDOU HIROSHI
UNE MASAMI
SAEKI KENJI
| JPS5191851A | 1976-08-12 | |||
| JPS5426261A | 1979-02-27 | |||
| JPS5368656A | 1978-06-19 | |||
| JPS56141971A | 1981-11-05 |
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